def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) #rospy.init_node('moveit_demo') # Initialize the ROS node rospy.init_node('moveit_demo', anonymous=True) #cartesian = rospy.get_param('~cartesian', True) print "===== It is OK ====" rospy.sleep(3) # Construct the initial scene object scene = PlanningSceneInterface() # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene, queue_size=1) # Create a dictionary to hold object colors self.colors = dict() # Pause for the scene to get ready rospy.sleep(1) # Initialize the move group for the left arm left_arm = MoveGroupCommander('left_arm') left_gripper = MoveGroupCommander('left_gripper') # Get the name of the end-effector link left_eef = left_arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) left_arm.set_goal_position_tolerance(0.01) left_arm.set_goal_orientation_tolerance(0.05) # Allow replanning to increase the odds of a solution left_arm.allow_replanning(True) left_reference_frame = left_arm.get_planning_frame() # Set the left arm reference frame left_arm.set_pose_reference_frame('base') # Allow 5 seconds per planning attempt left_arm.set_planning_time(10) # Set a limit on the number of pick attempts before bailing max_pick_attempts = 10 # Set a limit on the number of place attempts max_place_attempts = 10 # Give the scene a chance to catch up rospy.sleep(2) #object1_id = 'object1' table_id = 'table' target_id = 'target' #tool_id = 'tool' #obstacle1_id = 'obstacle1' # Remove leftover objects from a previous run #scene.remove_world_object(object1_id) scene.remove_world_object(table_id) scene.remove_world_object(target_id) #scene.remove_world_object(tool_id) # Remove any attached objects from a previous session scene.remove_attached_object('base', target_id) # Give the scene a chance to catch up rospy.sleep(1) # Start the arm in the "resting" pose stored in the SRDF file left_arm.set_named_target('left_arm_zero') left_arm.go() rospy.sleep(1) left_gripper.set_joint_value_target(GRIPPER_OPEN) left_gripper.go() rospy.sleep(1) # Set the height of the table off the ground table_ground = 0.0 #object1_size = [0.088, 0.04, 0.02] # Set the dimensions of the scene objects [l, w, h] table_size = [0.2, 0.7, 0.01] # Set the target size [l, w, h] target_size = [0.02, 0.01, 0.12] # Add a table top and two boxes to the scene #obstacle1_size = [0.3, 0.05, 0.45] # Add a table top and two boxes to the scene #obstacle1_pose = PoseStamped() #obstacle1_pose.header.frame_id = left_reference_frame #obstacle1_pose.pose.position.x = 0.96 #obstacle1_pose.pose.position.y = 0.24 #obstacle1_pose.pose.position.z = 0.04 #obstacle1_pose.pose.orientation.w = 1.0 #scene.add_box(obstacle1_id, obstacle1_pose, obstacle1_size) #self.setColor(obstacle1_id, 0.8, 0.4, 0, 1.0) #object1_pose = PoseStamped() #object1_pose.header.frame_id = left_reference_frame #object1_pose.pose.position.x = 0.80 #object1_pose.pose.position.y = 0.04 #object1_pose.pose.position.z = table_ground + table_size[2] + object1_size[2] / 2.0 #object1_pose.pose.orientation.w = 1.0 #scene.add_box(object1_id, object1_pose, object1_size) # Add a table top and two boxes to the scene table_pose = PoseStamped() table_pose.header.frame_id = left_reference_frame table_pose.pose.position.x = 1 table_pose.pose.position.y = 0.7 table_pose.pose.position.z = table_ground + table_size[2] / 2.0 table_pose.pose.orientation.w = 1.0 scene.add_box(table_id, table_pose, table_size) # Set the target pose in between the boxes and on the table target_pose = PoseStamped() target_pose.header.frame_id = left_reference_frame target_pose.pose.position.x = 1 target_pose.pose.position.y = 0.7 target_pose.pose.position.z = table_ground + table_size[ 2] + target_size[2] / 2.0 target_pose.pose.orientation.w = 1 # Add the target object to the scene scene.add_box(target_id, target_pose, target_size) # Make the table red and the boxes orange #self.setColor(object1_id, 0.8, 0, 0, 1.0) self.setColor(table_id, 0.8, 0, 0, 1.0) # Make the target yellow self.setColor(target_id, 0.9, 0.9, 0, 1.0) # Send the colors to the planning scene self.sendColors() # Set the support surface name to the table object left_arm.set_support_surface_name(table_id) # Specify a pose to place the target after being picked up place_pose = PoseStamped() place_pose.header.frame_id = left_reference_frame place_pose.pose.position.x = 0.18 place_pose.pose.position.y = -0.18 place_pose.pose.position.z = table_ground + table_size[ 2] + target_size[2] / 2.0 place_pose.pose.orientation.w = 1.0 0 # Initialize the grasp pose to the target pose grasp_pose = target_pose # Shift the grasp pose by half the width of the target to center it #grasp_pose.pose.position.y -= target_size[1] / 2.0 # Generate a list of grasps grasps = self.make_grasps(grasp_pose, [target_id]) # Publish the grasp poses so they can be viewed in RViz for grasp in grasps: self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) # Track success/failure and number of attempts for pick operation result = None n_attempts = 0 # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) result = left_arm.pick(target_id, grasps) rospy.sleep(0.2) # If the pick was successful, attempt the place operation if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 # Generate valid place poses places = self.make_places(place_pose) # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) for place in places: result = left_arm.place(target_id, place) if result == MoveItErrorCodes.SUCCESS: break rospy.sleep(0.2) if result != MoveItErrorCodes.SUCCESS: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") else: rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") # Return the arm to the "resting" pose stored in the SRDF file left_arm.set_named_target('left_arm_zero') left_arm.go() # Open the gripper to the neutral position left_gripper.set_joint_value_target(GRIPPER_OPEN) left_gripper.go() rospy.sleep(1) # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') self.gripper_opened = [rospy.get_param(GRIPPER_PARAM + "/max_opening")] self.gripper_closed = [rospy.get_param(GRIPPER_PARAM + "/min_opening")] self.gripper_neutral = [rospy.get_param(GRIPPER_PARAM + "/neutral")] self.gripper_tighten = rospy.get_param(GRIPPER_PARAM + "/tighten") # We need a tf listener to convert poses into arm reference base self.tf_listener = tf.TransformListener() # Use the planning scene object to add or remove objects scene = PlanningSceneInterface() # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene, queue_size=10) # Create a publisher for displaying gripper poses self.gripper_pose_pub = rospy.Publisher('target_pose', PoseStamped, queue_size=10) # Create a dictionary to hold object colors self.colors = dict() # Initialize the move group for the right arm arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the right gripper gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Get the name of the end-effector link end_effector_link = arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) arm.set_goal_position_tolerance(0.04) arm.set_goal_orientation_tolerance(0.1) # Allow replanning to increase the odds of a solution arm.allow_replanning(True) # Set the right arm reference frame arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow 5 seconds per planning attempt arm.set_planning_time(5) # Set a limit on the number of pick attempts before bailing max_pick_attempts = 3 # Set a limit on the number of place attempts max_place_attempts = 3 rospy.loginfo("Scaling for MoveIt timeout=" + str( rospy.get_param( '/move_group/trajectory_execution/allowed_execution_duration_scaling' ))) # Give the scene a chance to catch up rospy.sleep(2) # Give each of the scene objects a unique name #table_id = 'table' We also remove the table object in order to run a test #box1_id = 'box1' These boxes are commented as we do not need them #box2_id = 'box2' target_id = 'target' tool_id = 'tool' # Remove leftover objects from a previous run #scene.remove_world_object(table_id) #scene.remove_world_object(box1_id) These boxes are commented as we do not need them #scene.remove_world_object(box2_id) scene.remove_world_object(target_id) scene.remove_world_object(tool_id) # Remove any attached objects from a previous session scene.remove_attached_object(GRIPPER_FRAME, target_id) # Give the scene a chance to catch up rospy.sleep(1) # Start the arm in the "arm_up" pose stored in the SRDF file rospy.loginfo("Set Arm: right_up") arm.set_named_target('right_up') if arm.go() != True: rospy.logwarn(" Go failed") rospy.sleep(2) # Move the gripper to the closed position rospy.loginfo("Set Gripper: Close " + str(self.gripper_closed)) gripper.set_joint_value_target(self.gripper_closed) if gripper.go() != True: rospy.logwarn(" Go failed") rospy.sleep(2) # Move the gripper to the neutral position rospy.loginfo("Set Gripper: Neutral " + str(self.gripper_neutral)) gripper.set_joint_value_target(self.gripper_neutral) if gripper.go() != True: rospy.logwarn(" Go failed") rospy.sleep(2) # Move the gripper to the open position rospy.loginfo("Set Gripper: Open " + str(self.gripper_opened)) gripper.set_joint_value_target(self.gripper_opened) if gripper.go() != True: rospy.logwarn(" Go failed") rospy.sleep(2) # Set the height of the table off the ground #table_ground = 0.4 # Set the dimensions of the scene objects [l, w, h] #table_size = [0.2, 0.7, 0.01] #box1_size = [0.1, 0.05, 0.05] commented for the same reasons as previously #box2_size = [0.05, 0.05, 0.15] # Set the target size [l, w, h] target_size = [ 0.018, 0.018, 0.018 ] #[0.02, 0.005, 0.12] original object dimensions in meters # Add a table top and two boxes to the scene #table_pose = PoseStamped() #table_pose.header.frame_id = REFERENCE_FRAME #table_pose.pose.position.x = 0.36 #table_pose.pose.position.y = 0.0 #table_pose.pose.position.z = table_ground + table_size[2] -0.08 / 2.0 #0.4+0.01/2 aka table_ground + table_size[2] + target_size[2] / 2.0 #table_pose.pose.orientation.w = 1.0 #scene.add_box(table_id, table_pose, table_size) #box1_pose = PoseStamped() These two blocks of code are commented as they assign postion to unwanted boxes #box1_pose.header.frame_id = REFERENCE_FRAME #box1_pose.pose.position.x = table_pose.pose.position.x - 0.04 #box1_pose.pose.position.y = 0.0 #box1_pose.pose.position.z = table_ground + table_size[2] + box1_size[2] / 2.0 #box1_pose.pose.orientation.w = 1.0 #scene.add_box(box1_id, box1_pose, box1_size) #box2_pose = PoseStamped() #box2_pose.header.frame_id = REFERENCE_FRAME #box2_pose.pose.position.x = table_pose.pose.position.x - 0.06 #box2_pose.pose.position.y = 0.2 #box2_pose.pose.position.z = table_ground + table_size[2] + box2_size[2] / 2.0 #box2_pose.pose.orientation.w = 1.0 #scene.add_box(box2_id, box2_pose, box2_size) # Set the target pose in between the boxes and on the table target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = -0.03 #table_pose.pose.position.x - 0.03 target_pose.pose.position.y = 0.1 target_pose.pose.position.z = 0.4 + 0.01 + 0.018 - 0.08 / 2 #table_ground + table_size[2] + target_size[2] / 2.0 table_ground + table_size[2] + target_size[2] -0.08 / 2.0 target_pose.pose.orientation.w = 1.0 # Add the target object to the scene scene.add_box(target_id, target_pose, target_size) # Make the table red and the boxes orange #self.setColor(table_id, 0.8, 0, 0, 1.0) #self.setColor(box1_id, 0.8, 0.4, 0, 1.0) #self.setColor(box2_id, 0.8, 0.4, 0, 1.0) # Make the target yellow self.setColor(target_id, 0.9, 0.9, 0, 1.0) # Send the colors to the planning scene self.sendColors() # Set the support surface name to the table object #arm.set_support_surface_name(table_id) # Specify a pose to place the target after being picked up place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = -0.03 #table_pose.pose.position.x - 0.03 place_pose.pose.position.y = -0.15 place_pose.pose.position.z = 0.4 + 0.01 + 0.018 - 0.08 / 2 #table_ground + table_size[2] + target_size[2] -0.08 / 2.0 0.4+0.01+0.018/2 aka table_ground + table_size[2] + target_size[2] / 2.0 place_pose.pose.orientation.w = 1.0 # Initialize the grasp pose to the target pose grasp_pose = target_pose # Shift the grasp pose by half the width of the target to center it grasp_pose.pose.position.y -= target_size[1] / 2.0 # Generate a list of grasps grasps = self.make_grasps(grasp_pose, [target_id], [target_size[1] - self.gripper_tighten]) # Track success/failure and number of attempts for pick operation result = MoveItErrorCodes.FAILURE n_attempts = 0 # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: rospy.loginfo("Pick attempt #" + str(n_attempts)) for grasp in grasps: # Publish the grasp poses so they can be viewed in RViz self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) result = arm.pick(target_id, grasps) if result == MoveItErrorCodes.SUCCESS: break n_attempts += 1 rospy.sleep(0.2) # If the pick was successful, attempt the place operation if result == MoveItErrorCodes.SUCCESS: rospy.loginfo(" Pick: Done!") # Generate valid place poses places = self.make_places(place_pose) success = False #from here we are forcing the success cases by stting and making it always true it makes an error appear and the arm stays to the middle position n_attempts = 0 # Repeat until we succeed or run out of attempts while not success and n_attempts < max_place_attempts: #while not has been removed added = after operator < rospy.loginfo("Place attempt #" + str(n_attempts)) for place in places: # Publish the place poses so they can be viewed in RViz self.gripper_pose_pub.publish(place) rospy.sleep(0.2) success = arm.place(target_id, place) break if success: break n_attempts += 1 rospy.sleep(0.2) if not success: rospy.logerr("Place operation failed after " + str(n_attempts) + " attempts.") else: #end of forcing rospy.loginfo(" Place: Done!") else: rospy.logerr("Pick operation failed after " + str(n_attempts) + " attempts.") # Return the arm to the "resting" pose stored in the SRDF file (passing through right_up) arm.set_named_target('right_up') arm.go() arm.set_named_target('resting') arm.go() # Open the gripper to the neutral position gripper.set_joint_value_target(self.gripper_neutral) gripper.go() rospy.sleep(1) # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') # Use the planning scene object to add or remove objects scene = PlanningSceneInterface() # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene) # Create a publisher for displaying gripper poses self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped) # Create a dictionary to hold object colors self.colors = dict() # Initialize the move group for the right arm right_arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the right gripper right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.05) right_arm.set_goal_orientation_tolerance(0.1) # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Set the right arm reference frame right_arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow 10 seconds per planning attempt right_arm.set_planning_time(10) # Set a limit on the number of pick attempts before bailing max_pick_attempts = 10 # Set a limit on the number of place attempts max_place_attempts = 5 # Give the scene a chance to catch up rospy.sleep(2) # Give each of the scene objects a unique name table_id = 'table' box1_id = 'box1' box2_id = 'box2' target_id = 'target' tool_id = 'tool' # Remove leftover objects from a previous run scene.remove_world_object(table_id) scene.remove_world_object(box1_id) scene.remove_world_object(box2_id) scene.remove_world_object(target_id) scene.remove_world_object(tool_id) # Remove any attached objects from a previous session scene.remove_attached_object(GRIPPER_FRAME, target_id) # Give the scene a chance to catch up rospy.sleep(1) # Start the arm in the "resting" pose stored in the SRDF file right_arm.set_named_target('right_start') right_arm.go() # Open the gripper to the neutral position right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(1) # Set the height of the table off the ground table_ground = 0.65 # Set the dimensions of the scene objects [l, w, h] table_size = [0.2, 0.7, 0.01] box1_size = [0.1, 0.05, 0.05] box2_size = [0.05, 0.05, 0.15] # Set the target size [l, w, h] target_size = [0.02, 0.01, 0.12] # Add a table top and two boxes to the scene table_pose = PoseStamped() table_pose.header.frame_id = REFERENCE_FRAME table_pose.pose.position.x = 0.55 table_pose.pose.position.y = 0.0 table_pose.pose.position.z = table_ground + table_size[2] / 2.0 table_pose.pose.orientation.w = 1.0 scene.add_box(table_id, table_pose, table_size) box1_pose = PoseStamped() box1_pose.header.frame_id = REFERENCE_FRAME box1_pose.pose.position.x = 0.55 box1_pose.pose.position.y = -0.1 box1_pose.pose.position.z = table_ground + table_size[2] + box1_size[2] / 2.0 box1_pose.pose.orientation.w = 1.0 scene.add_box(box1_id, box1_pose, box1_size) box2_pose = PoseStamped() box2_pose.header.frame_id = REFERENCE_FRAME box2_pose.pose.position.x = 0.54 box2_pose.pose.position.y = 0.13 box2_pose.pose.position.z = table_ground + table_size[2] + box2_size[2] / 2.0 box2_pose.pose.orientation.w = 1.0 scene.add_box(box2_id, box2_pose, box2_size) # Set the target pose in between the boxes and on the table target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = 0.60 target_pose.pose.position.y = 0.0 target_pose.pose.position.z = table_ground + table_size[2] + target_size[2] / 2.0 target_pose.pose.orientation.w = 1.0 # Add the target object to the scene scene.add_box(target_id, target_pose, target_size) # Make the table red and the boxes orange self.setColor(table_id, 0.8, 0, 0, 1.0) self.setColor(box1_id, 0.8, 0.4, 0, 1.0) self.setColor(box2_id, 0.8, 0.4, 0, 1.0) # Make the target yellow self.setColor(target_id, 0.9, 0.9, 0, 1.0) # Send the colors to the planning scene self.sendColors() # Set the support surface name to the table object right_arm.set_support_surface_name(table_id) # Specify a pose to place the target after being picked up place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = 0.50 place_pose.pose.position.y = -0.25 place_pose.pose.position.z = table_ground + table_size[2] + target_size[2] / 2.0 place_pose.pose.orientation.w = 1.0 # Initialize the grasp pose to the target pose grasp_pose = target_pose # Shift the grasp pose by half the width of the target to center it grasp_pose.pose.position.y -= target_size[1] / 2.0 # Generate a list of grasps grasps = self.make_grasps(grasp_pose, [target_id]) # Publish the grasp poses so they can be viewed in RViz for grasp in grasps: self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) # Track success/failure and number of attempts for pick operation result = None n_attempts = 0 # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) result = right_arm.pick(target_id, grasps) rospy.sleep(0.2) # If the pick was successful, attempt the place operation if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 #_------------------------now we move to the other table__________------------------------------------------- #_------------------------now we move to the other table__________------------------------------------------- # Generate valid place poses places = self.make_places(place_pose) # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) for place in places: result = right_arm.place(target_id, place) if result == MoveItErrorCodes.SUCCESS: break rospy.sleep(0.2) if result != MoveItErrorCodes.SUCCESS: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") else: rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") # Return the arm to the "resting" pose stored in the SRDF file right_arm.set_named_target('right_start') right_arm.go() # Open the gripper to the neutral position right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(1) # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') # Use the planning scene object to add or remove objects scene = PlanningSceneInterface() # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene, queue_size=5) # Create a publisher for displaying gripper poses self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped, queue_size=5) # Create a dictionary to hold object colors self.colors = dict() # Initialize the move group for the right arm right_arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the right gripper right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() print(end_effector_link) # Allow some leeway in position (meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.1) right_arm.set_goal_orientation_tolerance(0.1) # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Set the right arm reference frame right_arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow 5 seconds per planning attempt right_arm.set_planning_time(5) # Set a limit on the number of pick attempts before bailing max_pick_attempts = 2 # Set a limit on the number of place attempts max_place_attempts = 5 # Give the scene a chance to catch up rospy.sleep(2) # clean the scene scene.remove_world_object("table") scene.remove_world_object("part") # Remove any attached objects from a previous session scene.remove_attached_object(GRIPPER_FRAME, "part") # Give the scene a chance to catch up rospy.sleep(1) # Start the arm in the "grasp" pose stored in the SRDF file right_arm.set_named_target('default') right_arm.go() # Open the gripper to the neutral position right_gripper.set_joint_value_target(GRIPPER_OPEN) right_gripper.go() rospy.sleep(1) place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = 0.240 place_pose.pose.position.y = 0.01 place_pose.pose.position.z = 0.3 scene.add_box("part", place_pose, (0.07, 0.01, 0.2)) # Specify a pose to place the target after being picked up target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME # start the gripper in a neutral pose part way to the target target_pose.pose.position.x = 0.0733923763037 target_pose.pose.position.y = 0.0129100652412 target_pose.pose.position.z = 0.3097191751 target_pose.pose.orientation.x = -0.524236500263 target_pose.pose.orientation.y = 0.440069645643 target_pose.pose.orientation.z = -0.468739062548 target_pose.pose.orientation.w = 0.558389186859 # Initialize the grasp pose to the target pose grasp_pose = target_pose print("going to start pose") right_arm.set_pose_target(target_pose) right_arm.go() rospy.sleep(2) # Shift the grasp pose by half the width of the target to center it #grasp_pose.pose.position.y -= target_size[1] / 2.0 #grasp_pose.pose.position.x = 0.12792118579 #grasp_pose.pose.position.y = -0.285290879999 #grasp_pose.pose.position.z = 0.120301181892 # Generate a list of grasps grasps = self.make_grasps(grasp_pose, 'part') # Publish the grasp poses so they can be viewed in RViz print "Publishing grasps" for grasp in grasps: self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) # Track success/failure and number of attempts for pick operation result = None n_attempts = 0 # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) result = right_arm.pick('part', grasps) rospy.sleep(0.2) # If the pick was successful, attempt the place operation if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 # Generate valid place poses places = self.make_places(place_pose) # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) for place in places: result = right_arm.place('part', place) if result == MoveItErrorCodes.SUCCESS: break rospy.sleep(0.2) if result != MoveItErrorCodes.SUCCESS: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") else: # Return the arm to the "resting" pose stored in the SRDF file right_arm.set_named_target('right_arm_rest') right_arm.go() # Open the gripper to the open position right_gripper.set_joint_value_target(GRIPPER_OPEN) right_gripper.go() else: rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") rospy.sleep(1) # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
class Pick_and_Place: def __init__(self): self.scene = PlanningSceneInterface() self.robot = RobotCommander() self.arm = MoveGroupCommander("arm") rospy.sleep(1) #remove existing objects self.scene.remove_world_object() self.scene.remove_attached_object("endeff", "part") rospy.sleep(5) ''' # publish a demo scene self.pos = PoseStamped() self.pos.header.frame_id = "world" # add wall in between self.pos.pose.position.x = -0.14 self.pos.pose.position.y = 0.02 self.pos.pose.position.z = 0.09 self.scene.add_box("wall", pos, (0.06, 0.01, 0.18)) # add an object to be grasped self.pos.pose.position.x = -0.14 self.pos.pose.position.y = -0.0434 self.pos.pose.position.z = 0.054 ''' self.g=Grasp() self.g.pre_grasp_approach.direction.vector.z= 1 self.g.pre_grasp_approach.direction.header.frame_id = 'endeff' self.g.pre_grasp_approach.min_distance = 0.04 self.g.pre_grasp_approach.desired_distance = 0.10 self.g.grasp_posture = self.make_gripper_posture(0) self.g.post_grasp_retreat.direction.vector.z= -1 self.g.post_grasp_retreat.direction.header.frame_id = 'endeff' self.g.post_grasp_retreat.min_distance = 0.04 self.g.post_grasp_retreat.desired_distance = 0.10 self.g.allowed_touch_objects = ["part"] self.p=PlaceLocation() self.p.place_pose.header.frame_id= 'world' self.p.place_pose.pose.position.x= -0.13341 self.p.place_pose.pose.position.y= 0.12294 self.p.place_pose.pose.position.z= 0.099833 self.p.place_pose.pose.orientation.x= 0 self.p.place_pose.pose.orientation.y= 0 self.p.place_pose.pose.orientation.z= 0 self.p.place_pose.pose.orientation.w= 1 self.p.pre_place_approach.direction.vector.z= 1 self.p.pre_place_approach.direction.header.frame_id = 'endeff' self.p.pre_place_approach.min_distance = 0.06 self.p.pre_place_approach.desired_distance = 0.12 self.p.post_place_posture= self.make_gripper_posture(-1.1158) self.p.post_place_retreat.direction.vector.z= -1 self.p.post_place_retreat.direction.header.frame_id = 'endeff' self.p.post_place_retreat.min_distance = 0.05 self.p.post_place_retreat.desired_distance = 0.06 self.p.allowed_touch_objects=["part"] self._as = actionlib.SimpleActionServer("server_test", TwoIntsAction, execute_cb=self.execute_pick_place, auto_start = False) self._as.start() # Get the gripper posture as a JointTrajectory def make_gripper_posture(self,pose): t = JointTrajectory() t.joint_names = ['joint6'] tp = JointTrajectoryPoint() tp.positions = [pose for j in t.joint_names] #tp.effort = GRIPPER_EFFORT t.points.append(tp) return t def execute_pick_place(self,g): res= TwoIntsResult() obj_pos = PoseStamped() obj_pos.header.frame_id = "world" obj_pos.pose.position.x = -g.a*0.01 obj_pos.pose.position.y = -g.b*0.01 obj_pos.pose.position.z = 0.054 #msg.z-0.02 self.scene.add_box("part", obj_pos, (0.02, 0.02, 0.02)) rospy.sleep(2) tar_pose = PoseStamped() tar_pose.header.frame_id = 'world' tar_pose.pose.position.x = -g.a*0.01 #-0.14 tar_pose.pose.position.y = -g.b*0.01 #-0.0434 tar_pose.pose.position.z = 0.074 #msg.z tar_pose.pose.orientation.x = -0.076043 tar_pose.pose.orientation.y = 0.99627 tar_pose.pose.orientation.z = -0.00033696 tar_pose.pose.orientation.w = -0.028802 self.g.grasp_pose=tar_pose grasps = [] grasps.append(copy.deepcopy(self.g)) result=-1 attempt=0 while result < 0 and attempt <= 150: result=self.arm.pick("part", grasps) print "Attempt:", attempt print "pick result: ", result attempt+=1 if result < 0: print "Pick Failed" else: print "Pick Success" result=False attempt=0 while result == False and attempt <= 150: result=self.arm.place("part", self.p) print "Attempt:", attempt attempt+=1 if result == False: print "Place Failed" #else: # print "Place Success" self.arm.set_named_target("Home") self.arm.go() res.sum=1 rospy.sleep(1) self._as.set_succeeded(res)
class Jaco_rapper(): def __init__(self): moveit_commander.roscpp_initialize(sys.argv) self.scene = PlanningSceneInterface() self.robot = RobotCommander() self.jaco_arm = MoveGroupCommander("Arm") self.hand = MoveGroupCommander("Hand") #self.pose_pub = rospy.Publisher("hand_pose", PoseStamped,queue_size = 100) self.pick_command = rospy.Publisher("pick_command", Bool, queue_size=100) rospy.Subscriber("pick_pose", PoseStamped, self.pick) self.jaco_arm.allow_replanning(True) # Set the right arm reference frame self.jaco_arm.set_pose_reference_frame(REFERENCE_FRAME) self.jaco_arm.set_planning_time(5) self.jaco_arm.set_goal_tolerance(0.02) self.jaco_arm.set_goal_orientation_tolerance(0.1) #self.pick_command.publish(True) def test(self): #self.hand.set_joint_value_target([0, 0, 0, 0]) grasp_pose = PoseStamped() grasp_pose.header.frame_id = 'arm_stand' grasp_pose.pose.position.x = 0 grasp_pose.pose.position.y = 0.24 grasp_pose.pose.position.z = -0.4 grasp_pose.pose.orientation = Quaternion(0.606301648371, 0.599731279995, 0.381153346104, 0.356991358063) # self.hand.set_joint_value_target([0, 0.012 ,0.012 ,0.012]) while (True): self.jaco_arm.set_pose_target( grasp_pose) # move to the top of the target self.jaco_arm.go() rospy.sleep(0.2) #result = self.jaco_arm.go() def pick(self, p): target_id = 'target' # Set a limit on the number of pick attempts before bailing max_pick_attempts = 5 # Set a limit on the number of place attempts max_place_attempts = 5 # Remove leftover objects from a previous run self.scene.remove_world_object(target_id) # Remove any attached objects from a previous session self.scene.remove_attached_object(GRIPPER_FRAME, target_id) # Give the scene a chance to catch up rospy.sleep(1) # Open the gripper to the neutral position self.hand.set_joint_value_target([0.2, 0.2, 0.2, 0.2]) self.hand.go() rospy.sleep(1) target_size = [0.01, 0.01, 0.01] # Set the target pose in between the boxes and on the table target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = p.pose.position.x - 0.015 #p.pose.position.x - 0.015 target_pose.pose.position.y = 0.05 target_pose.pose.position.z = p.pose.position.z target_pose.pose.orientation.w = 0 print "Arm is catching {} object at ({}, {}, {})".format( p.header.frame_id, p.pose.position.x, p.pose.position.y, p.pose.position.z) # Add the target object to the scene self.scene.add_box(target_id, target_pose, target_size) # Initialize the grasp pose to the target pose grasp_pose = PoseStamped() grasp_pose.header.frame_id = REFERENCE_FRAME grasp_pose.pose = target_pose.pose grasp_pose.pose.position.y = 0.24 # Generate a list of grasps grasps = self.make_grasps(grasp_pose, [target_id]) # Publish the grasp poses so they can be viewed in RViz for grasp in grasps: #self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) # Track success/failure and number of attempts for pick operation result = None n_attempts = 0 # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: result = self.jaco_arm.pick(target_id, grasps) n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) rospy.sleep(1.0) # If the pick was successful, attempt the place operation if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 # Generate valid place poses places = self.make_places(p.header.frame_id) # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: for place in places: result = self.jaco_arm.place(target_id, place) if result == MoveItErrorCodes.SUCCESS: break n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) rospy.sleep(0.2) if result != MoveItErrorCodes.SUCCESS: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") else: rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") rospy.sleep(0.2) self.scene.remove_world_object(target_id) # Remove any attached objects from a previous session self.scene.remove_attached_object(GRIPPER_FRAME, target_id) self.pick_command.publish(Bool(True)) return # Get the gripper posture as a JointTrajectory def make_gripper_posture(self, joint_positions): # Initialize the joint trajectory for the gripper joints t = JointTrajectory() # Set the joint names to the gripper joint names t.joint_names = GRIPPER_JOINT_NAMES # Initialize a joint trajectory point to represent the goal tp = JointTrajectoryPoint() # Assign the trajectory joint positions to the input positions tp.positions = joint_positions # Set the gripper effort tp.effort = GRIPPER_EFFORT tp.time_from_start = rospy.Duration(1.0) # Append the goal point to the trajectory points t.points.append(tp) # Return the joint trajectory return t # Generate a gripper translation in the direction given by vector def make_gripper_translation(self, min_dist, desired, vector): # Initialize the gripper translation object g = GripperTranslation() # Set the direction vector components to the input g.direction.vector.x = vector[0] g.direction.vector.y = vector[1] g.direction.vector.z = vector[2] # The vector is relative to the gripper frame g.direction.header.frame_id = 'arm_stand' # Assign the min and desired distances from the input g.min_distance = min_dist g.desired_distance = desired return g # Generate a list of possible grasps def make_grasps(self, initial_pose_stamped, allowed_touch_objects): # Initialize the grasp object g = Grasp() # Set the pre-grasp and grasp postures appropriately g.pre_grasp_posture = self.make_gripper_posture(GRIPPER_OPEN) g.grasp_posture = self.make_gripper_posture(GRIPPER_CLOSED) # Set the approach and retreat parameters as desired g.pre_grasp_approach = self.make_gripper_translation( 0.05, 0.15, [0.0, -1.0, 0.0]) g.post_grasp_retreat = self.make_gripper_translation( 0.05, 0.1, [0.0, 1.0, 0.0]) # Set the first grasp pose to the input pose g.grasp_pose = initial_pose_stamped # Pitch angles to try pitch_vals = [0, 0.1, -0.1, 0.2, -0.2, 0.3, -0.3] # Yaw angles to try yaw_vals = [0] # A list to hold the grasps g.grasp_pose.pose.orientation = Quaternion(0.606301648371, 0.599731279995, 0.381153346104, 0.356991358063) # Set and id for this grasp (simply needs to be unique) g.id = str(len(yaw_vals)) # Set the allowed touch objects to the input list g.allowed_touch_objects = allowed_touch_objects # Don't restrict contact force g.max_contact_force = 0 grasps = [g] # Return the list return grasps # Generate a list of possible place poses def make_places(self, color): # Initialize the place location as a PoseStamped message x = 0 z = 0 if (color == 'red'): x = 0.4 z = -0.4 elif (color == 'blue'): x = 0.4 z = -0.25 else: x = -0.3 z = -0.4 place_pose = PoseStamped() place_pose.pose.position.x = x place_pose.pose.position.y = 0.2 place_pose.pose.position.z = z # Start with the input place pose place_pose.header.frame_id = REFERENCE_FRAME # A list to hold the places places = [] # Create a quaternion from the Euler angles place_pose.pose.orientation = Quaternion(0, 0, 0, 0) # Append this place pose to the list places.append(deepcopy(place_pose)) # Return the list return places
def PickAndPlace(self, goal): arm = MoveGroupCommander('arm') end_effector_link = arm.get_end_effector_link( ) # get end effector link name arm.allow_replanning(True) arm.set_planning_time(5) # setting object id table_id = 'table' side_id = 'side' table2_id = 'table2' table2_ground_id = 'table2_ground' box2_id = 'box2' target_id = 'target' wall_id = 'wall' ground_id = 'ground' rospy.sleep(1) # setting object size table_ground = 0.55 table_size = [0.7, 0.2, 0.01] table2_size = [0.6, 0.25, 0.01] table2_ground_size = [0.9, 0.02, 0.6] box2_size = [0.05, 0.05, 0.15] wall_size = [0.9, 0.01, 0.6] ground_size = [3, 3, 0.01] side_size = [0.7, 0.01, table_ground] # setting object pose and add to the world ''' self.scene_manage(table2_ground_id, table2_ground_size, [ 0.0, 0.36, table2_ground_size[2]/2.0]) self.scene_manage(box2_id, box2_size, [-0.12, -0.63, table_ground + table_size[2] + box2_size[2]/2.0]) self.scene_manage(table_id, table_size, [0.0, -0.7, table_ground + table_size[2]/2.0]) self.scene_manage(table2_id, table2_size, [0.0, 0.325, table2_ground_size[2] + table2_size[2]/2.0]) self.scene_manage(wall_id, wall_size, [0.0, 0.405, table2_ground_size[2] + table2_size[2] + wall_size[2]/2.0]) self.scene_manage(ground_id, ground_size, [0.0, 0.0, -ground_size[2]/2.0]) self.scene_manage(side_id, side_size, [0.0, -0.605, side_size[2]/2.0]) ''' self.scene_manage(ground_id, ground_size, [0.0, 0.0, -ground_size[2] / 2.0]) target_size = [ goal.object_size.x, goal.object_size.y, goal.object_size.z ] target_position = [ goal.object_pose.pose.position.x, goal.object_pose.pose.position.y, goal.object_pose.pose.position.z ] self.scene_manage(target_id, target_size, target_position) # setting object color self.setColor(table_id, 0.8, 0.0, 0.0, 1.0) self.setColor(table2_id, 0.8, 0.0, 0.0) self.setColor(table2_ground_id, 0.9, 0.9, 0.9) self.setColor(box2_id, 0.8, 0.4, 1.0) self.setColor(target_id, 0.5, 0.4, 1.0) self.setColor(wall_id, 0.9, 0.9, 0.9) self.setColor(ground_id, 0.3, 0.3, 0.3, 1.0) self.setColor(side_id, 0.8, 0.0, 0.0, 1.0) self.sendColors() arm.set_support_surface_name(ground_id) # avoid collision detection # setting placing position place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_orientation = Quaternion() place_orientation = quaternion_from_euler(0.0, 0.0, 0.0) # self.setPose(place_pose, [-0.22, 0.24, table2_ground_size[2] + table2_size[2] + target_size[2]/2.0], list(place_orientation)) self.setPose(place_pose, [0.0, -0.5, 0.25 + target_size[2] / 2.0]) # setting grasping position grasp_pose = goal.object_pose grasp_init_orientation = Quaternion() grasp_init_orientation = quaternion_from_euler(1.57, -1.57, 0.0) grasp_pose.pose.orientation.x = grasp_init_orientation[0] grasp_pose.pose.orientation.y = grasp_init_orientation[1] grasp_pose.pose.orientation.z = grasp_init_orientation[2] grasp_pose.pose.orientation.w = grasp_init_orientation[3] grasp_pose.pose.position.y += 0.02 rospy.loginfo('quaterion: ' + str(grasp_pose.pose.orientation)) # generate grasp postures grasps = self.make_grasps(grasp_pose, [table_id], [0.05, 0.07, [0.0, -1.0, 0.0]], [0.1, 0.15, [0.0, 1.0, 1.0]], 1) result = None n_attempts = 0 # execute pick action while result != MoveItErrorCodes.SUCCESS and n_attempts < self.max_pick_attempts: result = arm.pick(target_id, grasps) n_attempts += 1 rospy.loginfo('Pick attempt:' + str(n_attempts)) rospy.sleep(0.2) arm.set_support_surface_name(ground_id) # generate place action if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 places = self.make_places(place_pose, [table2_id], [0.05, 0.07, [0.0, -1.0, -1.0]], [0.1, 0.15, [0.0, 1.0, 1.0]]) # execute place action while result != MoveItErrorCodes.SUCCESS and n_attempts < self.max_place_attempts: for place in places: result = arm.place(target_id, place) if result == MoveItErrorCodes.SUCCESS: break n_attempts += 1 rospy.loginfo('Place attempt:' + str(n_attempts)) rospy.sleep(0.2) # return result and restore Home posture if MoveItErrorCodes.SUCCESS: arm.set_named_target('Home') arm.go() #rospy.Subscriber('/j2s7s300_driver/out/tool_pose', PoseStamped, callback=self.cb) #self._result.arm_pose = arm.get_current_pose() self._result.arm_pose = rospy.wait_for_message( '/j2s7s300_driver/out/tool_pose', PoseStamped) self._server.set_succeeded(self._result) rospy.sleep(2)
def __init__(self): # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('moveit_pick_and_place_demo') # 初始化场景对象 scene = PlanningSceneInterface() self.scene = scene # 创建一个发布场景变化信息的发布者 self.scene_pub = rospy.Publisher('planning_scene', PlanningScene, queue_size=10) # 创建一个发布抓取姿态的发布者 self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped, queue_size=10) # 创建一个存储物体颜色的字典对象 self.colors = dict() # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander(GROUP_NAME_ARM) self.arm = arm # 初始化需要使用move group控制的机械臂中的gripper group gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # 获取终端link的名称 end_effector_link = arm.get_end_effector_link() self.end_effector_link = end_effector_link # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 arm.set_goal_position_tolerance(0.01) arm.set_goal_orientation_tolerance(0.01) # 当运动规划失败后,允许重新规划 arm.allow_replanning(True) # 设置目标位置所使用的参考坐标系 arm.set_pose_reference_frame(REFERENCE_FRAME) # 设置每次运动规划的时间限制:5s arm.set_planning_time(5) # 设置pick和place阶段的最大尝试次数 max_pick_attempts = 1 max_place_attempts = 1 # 控制机械臂先回到初始化位置 # arm.set_named_target('left_arm_zero') arm.set_named_target(ARM_INIT_POSE) arm.go() # 控制夹爪张开 gripper.set_joint_value_target(GRIPPER_OPEN) # gripper.set_joint_value_target(GRIPPER_CLOSED) gripper.go() ############################## 获取目标物体位置 ######################### obj_position, obj_orientation = self.obj_listener() # 调整四元数顺序以便调用 obj_orientation_wxyz = (obj_orientation[3], obj_orientation[0], obj_orientation[1], obj_orientation[2]) # 获得旋转矩阵,旋转矩阵每一列对应一个轴的方向向量 rotation_matrix = quaternions.quat2mat(obj_orientation_wxyz) direction_x = rotation_matrix[:, 0] # 旋转矩阵第一列为x轴方向向量 direction_y = rotation_matrix[:, 1] # 旋转矩阵第二列为y轴方向向量 direction_z = rotation_matrix[:, 2] # 旋转矩阵第三列为z轴方向向量 self.direction_x = direction_x self.direction_y = direction_y self.direction_z = direction_z # 获得x轴方向向量 print "rotation_matrix:\n", rotation_matrix print "direction vector:\n", direction_x, direction_y, direction_z, "\n" # 手抓指向一定是朝下的,否则退出程序 if direction_z[2] > 0: print "Invalid grasp pose !" sys.exit() # 设置桌面的高度 self.table_ground = 0.65 # 设置桌子的三维尺寸[长, 宽, 高] self.table_size = [0.4, 0.8, 0.5] # 添加场景物体 self.add_scene() target_id = 'target' # 设置目标物体的尺寸 target_size = [0.01, 0.01, 0.01] # 移除场景中之前与机器臂绑定的物体 scene.remove_attached_object(GRIPPER_FRAME, target_id) scene.remove_world_object(target_id) ############################ 设置目标物体位置 ########################## target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = obj_position[0] target_pose.pose.position.y = obj_position[1] target_pose.pose.position.z = obj_position[2] print "obj_position:\n", target_pose.pose.position # 按方向向量平移一定距离 distance = 0.06 # 平移的距离 target_pose.pose.position.x += direction_z[0] * distance target_pose.pose.position.y += direction_z[1] * distance target_pose.pose.position.z += direction_z[2] * distance print "obj_position_moved:\n", target_pose.pose.position target_pose.pose.orientation.x = obj_orientation[0] target_pose.pose.orientation.y = obj_orientation[1] target_pose.pose.orientation.z = obj_orientation[2] target_pose.pose.orientation.w = obj_orientation[3] # 将抓取的目标物体加入场景中 scene.add_box(target_id, target_pose, target_size) # 将目标物体设置为黄色 self.setColor(target_id, 0.9, 0.9, 0, 1.0) # 将场景中的颜色设置发布 self.sendColors() rospy.sleep(0.9) ############################ 设置目标物体放置位置 ####################### place_pose = PoseStamped() place_pose.header.frame_id = 'base_link' place_pose.pose.position.x = 0.5 place_pose.pose.position.y = -0.3 place_pose.pose.position.z = self.table_ground + target_size[ 2] / 2.0 + 0.1 place_pose.pose.orientation.w = 1.0 # scene.add_box('place', place_pose, target_size) ########################### 设置机器人的抓取目标位置 ###################### grasp_pose = PoseStamped() grasp_pose.header.frame_id = REFERENCE_FRAME grasp_pose.pose.position.x = obj_position[0] grasp_pose.pose.position.y = obj_position[1] grasp_pose.pose.position.z = obj_position[2] grasp_pose.pose.orientation.x = obj_orientation[0] grasp_pose.pose.orientation.y = obj_orientation[1] grasp_pose.pose.orientation.z = obj_orientation[2] grasp_pose.pose.orientation.w = obj_orientation[3] ########################## 生成抓取姿态、规划并执行抓取 #################### # 生成抓取姿态 grasps = self.make_grasps(grasp_pose, [target_id]) # 将抓取姿态发布,可以在rviz中显示 for grasp in grasps: self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) # 追踪抓取成功与否,以及抓取的尝试次数 result = None n_attempts = 0 # 重复尝试抓取,直道成功或者超多最大尝试次数 while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) result = arm.pick(target_id, grasps) rospy.sleep(0.2) ######################### 生成放置姿态、规划并执行放置 ##################### # 如果pick成功,则进入place阶段 if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 # 生成放置姿态 places = self.make_places(place_pose) # 重复尝试放置,直道成功或者超多最大尝试次数 while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) for place in places: result = arm.place(target_id, place) if result == MoveItErrorCodes.SUCCESS: break rospy.sleep(0.2) if result != MoveItErrorCodes.SUCCESS: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") else: rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") # 控制机械臂回到初始化位置 arm.set_named_target(ARM_INIT_POSE) arm.go() # 控制夹爪回到张开的状态 gripper.set_joint_value_target(GRIPPER_OPEN) gripper.go() rospy.sleep(1) # 关闭并退出moveit moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') # Use the planning scene object to add or remove objects scene = PlanningSceneInterface("base_link") # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene) # Create a publisher for displaying gripper poses self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped) # Create a dictionary to hold object colors self.colors = dict() # Initialize the move group for the right arm right_arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the right gripper right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.05) right_arm.set_goal_orientation_tolerance(0.1) # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Set the right arm reference frame right_arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow 5 seconds per planning attempt right_arm.set_planning_time(15) # Set a limit on the number of pick attempts before bailing max_pick_attempts = 5 # Set a limit on the number of place attempts max_place_attempts = 3 # Give the scene a chance to catch up rospy.sleep(2) # Connect to the UBR-1 find_objects action server rospy.loginfo("Connecting to basic_grasping_perception/find_objects...") find_objects = actionlib.SimpleActionClient("basic_grasping_perception/find_objects", FindGraspableObjectsAction) find_objects.wait_for_server() rospy.loginfo("...connected") # Give the scene a chance to catch up rospy.sleep(1) # Start the arm in the "resting" pose stored in the SRDF file right_arm.set_named_target('resting') right_arm.go() # Open the gripper to the neutral position right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(1) # Begin the main perception and pick-and-place loop while not rospy.is_shutdown(): # Initialize the grasping goal goal = FindGraspableObjectsGoal() # We don't use the UBR-1 grasp planner as it does not work with our gripper goal.plan_grasps = False # Send the goal request to the find_objects action server which will trigger # the perception pipeline find_objects.send_goal(goal) # Wait for a result find_objects.wait_for_result(rospy.Duration(5.0)) # The result will contain support surface(s) and objects(s) if any are detected find_result = find_objects.get_result() # Display the number of objects found rospy.loginfo("Found %d objects" % len(find_result.objects)) # Remove all previous objects from the planning scene for name in scene.getKnownCollisionObjects(): scene.removeCollisionObject(name, False) for name in scene.getKnownAttachedObjects(): scene.removeAttachedObject(name, False) scene.waitForSync() # Clear the virtual object colors scene._colors = dict() # Use the nearest object on the table as the target target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_size = None the_object = None the_object_dist = 1.0 count = -1 # Cycle through all detected objects and keep the nearest one for obj in find_result.objects: count += 1 scene.addSolidPrimitive("object%d"%count, obj.object.primitives[0], obj.object.primitive_poses[0], wait = False) # Choose the object nearest to the robot dx = obj.object.primitive_poses[0].position.x - args.x dy = obj.object.primitive_poses[0].position.y d = math.sqrt((dx * dx) + (dy * dy)) if d < the_object_dist: the_object_dist = d the_object = count # Get the size of the target target_size = obj.object.primitives[0].dimensions # Set the target pose target_pose.pose = obj.object.primitive_poses[0] # We want the gripper to be horizontal target_pose.pose.orientation.x = 0.0 target_pose.pose.orientation.y = 0.0 target_pose.pose.orientation.z = 0.0 target_pose.pose.orientation.w = 1.0 # Make sure we found at least one object before setting the target ID if the_object != None: target_id = "object%d"%the_object # Insert the support surface into the planning scene for obj in find_result.support_surfaces: # Extend surface to floor height = obj.primitive_poses[0].position.z obj.primitives[0].dimensions = [obj.primitives[0].dimensions[0], 2.0, # make table wider obj.primitives[0].dimensions[2] + height] obj.primitive_poses[0].position.z += -height/2.0 # Add to scene scene.addSolidPrimitive(obj.name, obj.primitives[0], obj.primitive_poses[0], wait = False) # Get the table dimensions table_size = obj.primitives[0].dimensions # If no objects detected, try again if the_object == None or target_size is None: rospy.logerr("Nothing to grasp! try again...") continue # Wait for the scene to sync scene.waitForSync() # Set colors of the table and the object we are grabbing scene.setColor(target_id, 223.0/256.0, 90.0/256.0, 12.0/256.0) # orange scene.setColor(find_result.objects[the_object].object.support_surface, 0.3, 0.3, 0.3, 0.7) # grey scene.sendColors() # Skip pick-and-place if we are just detecting objects if args.objects: if args.once: exit(0) else: continue # Get the support surface ID support_surface = find_result.objects[the_object].object.support_surface # Set the support surface name to the table object right_arm.set_support_surface_name(support_surface) # Specify a pose to place the target after being picked up place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = target_pose.pose.position.x place_pose.pose.position.y = 0.03 place_pose.pose.position.z = table_size[2] + target_size[2] / 2.0 + 0.015 place_pose.pose.orientation.w = 1.0 # Initialize the grasp pose to the target pose grasp_pose = target_pose # Shift the grasp pose half the size of the target to center it in the gripper try: grasp_pose.pose.position.x += target_size[0] / 2.0 grasp_pose.pose.position.y -= 0.01 grasp_pose.pose.position.z += target_size[2] / 2.0 except: rospy.loginfo("Invalid object size so skipping") continue # Generate a list of grasps grasps = self.make_grasps(grasp_pose, [target_id]) # Publish the grasp poses so they can be viewed in RViz for grasp in grasps: self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) # Track success/failure and number of attempts for pick operation result = None n_attempts = 0 # Set the start state to the current state right_arm.set_start_state_to_current_state() # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: result = right_arm.pick(target_id, grasps) n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) rospy.sleep(1.0) # If the pick was successful, attempt the place operation if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 # Generate valid place poses places = self.make_places(place_pose) # Set the start state to the current state #right_arm.set_start_state_to_current_state() # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: for place in places: result = right_arm.place(target_id, place) if result == MoveItErrorCodes.SUCCESS: break n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) rospy.sleep(0.2) if result != MoveItErrorCodes.SUCCESS: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") else: rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") rospy.sleep(2) # Open the gripper to the neutral position right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(2) # Return the arm to the "resting" pose stored in the SRDF file right_arm.set_named_target('resting') right_arm.go() rospy.sleep(2) # Give the servos a rest arbotix_relax_all_servos() rospy.sleep(2) if args.once: # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
def __init__(self): # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('pick_and_place_demo') # 初始化场景对象 scene = PlanningSceneInterface() # 创建一个发布场景变化信息的发布者 self.scene_pub = rospy.Publisher('planning_scene', PlanningScene, queue_size=10) # 创建一个发布抓取姿态的发布者 self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped, queue_size=10) # 创建一个存储物体颜色的字典对象 self.colors = dict() # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander(GROUP_NAME_ARM) # 初始化需要使用move group控制的机械臂中的gripper group gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # 获取终端link的名称 #end_effector_link = arm.get_end_effector_link() # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 arm.set_goal_position_tolerance(0.05) arm.set_goal_orientation_tolerance(0.1) # 当运动规划失败后,允许重新规划 arm.allow_replanning(True) # 设置目标位置所使用的参考坐标系 #arm.set_pose_reference_frame(REFERENCE_FRAME) # 设置每次运动规划的时间限制:20s arm.set_planning_time(20) # 设置pick和place阶段的最大尝试次数 max_pick_attempts = 5 max_place_attempts = 5 rospy.sleep(2) # 设置场景物体的名称 table1_id = 'table1' table2_id = 'table2' target_id = 'cube_marker' # 移除场景中之前运行残留的物体 scene.remove_world_object(table1_id) scene.remove_world_object(table2_id) scene.remove_world_object(target_id) # 移除场景中之前与机器臂绑定的物体 scene.remove_attached_object(GRIPPER_FRAME, target_id) rospy.sleep(1) # 控制机械臂先运动到准备位置 arm.set_named_target('home') arm.go() # 控制夹爪张开 gripper.set_joint_value_target(GRIPPER_OPEN) gripper.go() rospy.sleep(1) # 设置table的三维尺寸[长, 宽, 高] table1_size = [0.8, 1.5, 0.03] table2_size = [1.5, 0.8, 0.03] # 将两张桌子加入场景当中 table1_pose = PoseStamped() table1_pose.header.frame_id = 'base_link' table1_pose.pose.position.x = 0 table1_pose.pose.position.y = 1.05 table1_pose.pose.position.z = -0.05 table1_pose.pose.orientation.w = 1.0 scene.add_box(table1_id, table1_pose, table1_size) table2_pose = PoseStamped() table2_pose.header.frame_id = 'base_link' table2_pose.pose.position.x = -1.05 table2_pose.pose.position.y = -0.1 table2_pose.pose.position.z = -0.05 table2_pose.pose.orientation.w = 1.0 scene.add_box(table2_id, table2_pose, table2_size) # 将桌子设置成红色 self.setColor(table1_id, 0.8, 0.4, 0, 1.0) self.setColor(table2_id, 0.8, 0.4, 0, 1.0) #监听目标到'base_link'的tf变换 listener = tf.TransformListener() while not rospy.is_shutdown(): try: (trans, rot) = listener.lookupTransform('base_link', 'ar_marker_0', rospy.Time(0)) break except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): rospy.loginfo( "Waiting for transform between 'base_link' and 'ar_marker_0'" ) rospy.sleep(1) rospy.loginfo("Found transform between 'base_link' and 'ar_marker_0'") # 设置目标物体的尺寸 target_size = [0.05, 0.05, 0.2] # 设置目标物体的位置 target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = trans[0] target_pose.pose.position.y = trans[1] target_pose.pose.position.z = 0.065 target_pose.pose.orientation.x = rot[0] target_pose.pose.orientation.y = rot[1] target_pose.pose.orientation.z = rot[2] target_pose.pose.orientation.w = rot[3] # 将抓取的目标物体加入场景中 scene.add_box(target_id, target_pose, target_size) # 将目标物体设置为黄色 self.setColor(target_id, 0.9, 0.9, 0, 1.0) # 将场景中的颜色设置发布 self.sendColors() # 设置支持的外观 arm.set_support_surface_name(table2_id) # 设置一个place阶段需要放置物体的目标位置 place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = -0.5 place_pose.pose.position.y = 0 place_pose.pose.position.z = 0.065 while not rospy.is_shutdown(): try: listener.waitForTransform('ar_marker_0', 'ee_link', rospy.Time(0), rospy.Duration(4.0)) break except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): rospy.loginfo( "Waiting for transform between 'ar_marker_0' and 'ee_link'" ) rospy.sleep(1) rospy.loginfo("Found transform between 'ar_marker_0' and 'ee_link'") # 将目标位置设置为机器人的抓取目标位置 grasp_pose = PoseStamped() grasp_pose.header.frame_id = 'ar_marker_0' grasp_pose.pose.position.x = 0 grasp_pose.pose.position.y = -0.15 grasp_pose.pose.position.z = -0.1 # 生成抓取姿态 grasps = self.make_grasps(grasp_pose, [target_id]) # 将抓取姿态发布,可以在rviz中显示 for grasp in grasps: self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) # 追踪抓取成功与否,以及抓取的尝试次数 result = None n_attempts = 0 # 重复尝试抓取,直道成功或者超多最大尝试次数 while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) result = arm.pick(target_id, grasps) rospy.sleep(0.2) # 如果pick成功,则进入place阶段 if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 # 生成放置姿态 places = self.make_places(place_pose) # 重复尝试放置,直道成功或者超多最大尝试次数 while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) for place in places: result = arm.place(target_id, place) if result == MoveItErrorCodes.SUCCESS: break rospy.sleep(0.2) if result != MoveItErrorCodes.SUCCESS: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") else: rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") # 控制机械臂回到初始化位置 arm.set_named_target('home') arm.go() # 控制夹爪回到张开的状态 gripper.set_joint_value_target(GRIPPER_OPEN) gripper.go() rospy.sleep(1) # 关闭并退出moveit moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') # Use the planning scene object to add or remove objects scene = PlanningSceneInterface() # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene) # Create a publisher for displaying gripper poses self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped) # Create a dictionary to hold object colors self.colors = dict() #move_base action self.fridge = (Pose(Point(X_FRIDGE, Y_FRIDGE, 0.0), Quaternion(0.0, 0.0, 0, 1))) #location of the beer self.person = (Pose(Point(X_PERSON, Y_PERSON, 0.0), Quaternion(0.0, 0.0, 0, 1))) #person requesting the beer self.station = (Pose(Point(0.5, 0.0, 0.0), Quaternion(0.0, 0.0, 0, 1))) #person requesting the beer self.client = SimpleActionClient("move_base", MoveBaseAction) self.client.wait_for_server() # Initialize the move group for the right arm right_arm = MoveGroupCommander(GROUP_NAME_ARM) left_arm = MoveGroupCommander('left_arm') # Initialize the move group for the right gripper right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.05) right_arm.set_goal_orientation_tolerance(0.1) # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Set the right arm reference frame right_arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow 10 seconds per planning attempt right_arm.set_planning_time(10) # Set a limit on the number of pick attempts before bailing max_pick_attempts = 10 # Set a limit on the number of place attempts max_place_attempts = 5 # Give the scene a chance to catch up rospy.sleep(2) # Give each of the scene objects a unique name table_id = 'table' box1_id = 'box1' box2_id = 'box2' target_id = 'target' tool_id = 'tool' person1_id = 'person1' # Remove leftover objects from a previous run scene.remove_world_object(table_id) scene.remove_world_object(box1_id) scene.remove_world_object(box2_id) scene.remove_world_object(target_id) scene.remove_world_object(tool_id) scene.remove_world_object(person1_id) # Remove any attached objects from a previous session scene.remove_attached_object(GRIPPER_FRAME, target_id) # Give the scene a chance to catch up rospy.sleep(1) # Start the arm in the "resting" pose stored in the SRDF file right_arm.set_named_target('right_start') right_arm.go() left_arm.set_named_target('left_start') left_arm.go() # Open the gripper to the neutral position right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(1) # Set the height of the table off the ground table_ground = 0.65 # Set the dimensions of the scene objects [l, w, h] table_size = [0.2, 0.7, 0.01] box1_size = [0.1, 0.05, 0.05] box2_size = [0.05, 0.05, 0.15] person1_size = [0.3, 0.7, 0.01] # Set the target size [l, w, h] target_size = [0.02, 0.01, 0.12] # Add a table top and two boxes to the scene table_pose = PoseStamped() table_pose.header.frame_id = REFERENCE_FRAME table_pose.pose.position.x = X_FRIDGE + 0.55 table_pose.pose.position.y = Y_FRIDGE + 0.0 table_pose.pose.position.z = table_ground + table_size[2] / 2.0 table_pose.pose.orientation.w = 1.0 scene.add_box(table_id, table_pose, table_size) box1_pose = PoseStamped() box1_pose.header.frame_id = REFERENCE_FRAME box1_pose.pose.position.x = X_FRIDGE + 0.55 box1_pose.pose.position.y = Y_FRIDGE + -0.1 box1_pose.pose.position.z = table_ground + table_size[ 2] + box1_size[2] / 2.0 box1_pose.pose.orientation.w = 1.0 scene.add_box(box1_id, box1_pose, box1_size) box2_pose = PoseStamped() box2_pose.header.frame_id = REFERENCE_FRAME box2_pose.pose.position.x = X_FRIDGE + 0.54 box2_pose.pose.position.y = Y_FRIDGE + 0.13 box2_pose.pose.position.z = table_ground + table_size[ 2] + box2_size[2] / 2.0 box2_pose.pose.orientation.w = 1.0 scene.add_box(box2_id, box2_pose, box2_size) #add the person to the scene person1_pose = PoseStamped() person1_pose.header.frame_id = REFERENCE_FRAME person1_pose.pose.position.x = X_PERSON + 0.54 person1_pose.pose.position.y = Y_PERSON + 0.13 person1_pose.pose.position.z = table_ground + table_size[ 2] + person1_size[2] / 2.0 person1_pose.pose.orientation.w = 1.0 scene.add_box(person1_id, person1_pose, person1_size) # Set the target pose in between the boxes and on the table target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = X_FRIDGE + 0.50 target_pose.pose.position.y = Y_FRIDGE + 0.0 target_pose.pose.position.z = table_ground + table_size[ 2] + target_size[2] / 2.0 target_pose.pose.orientation.w = 1.0 # Add the target object to the scene scene.add_box(target_id, target_pose, target_size) # Make the table red and the boxes orange self.setColor(table_id, 0.8, 0, 0, 1.0) self.setColor(box1_id, 0.8, 0.4, 0, 1.0) self.setColor(box2_id, 0.8, 0.4, 0, 1.0) self.setColor(person1_id, 0.8, 0, 0, 1.0) # Make the target yellow self.setColor(target_id, 0.9, 0.9, 0, 1.0) # Send the colors to the planning scene self.sendColors() # Set the support surface name to the table object right_arm.set_support_surface_name(table_id) # Specify a pose to place the target after being picked up place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = X_PERSON + 0.50 place_pose.pose.position.y = Y_PERSON + -0.25 place_pose.pose.position.z = table_ground + table_size[ 2] + target_size[2] / 2.0 place_pose.pose.orientation.w = 1.0 #move to target self.move_to(self.fridge) # Initialize the grasp pose to the target pose grasp_pose = target_pose # Shift the grasp pose by half the width of the target to center it grasp_pose.pose.position.y -= target_size[1] / 2.0 # Generate a list of grasps grasps = self.make_grasps(grasp_pose, [target_id]) # Publish the grasp poses so they can be viewed in RViz for grasp in grasps: self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) # Track success/failure and number of attempts for pick operation result = None n_attempts = 0 # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) result = right_arm.pick(target_id, grasps) rospy.sleep(0.2) # If the pick was successful, attempt the place operation if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 #_------------------------now we move to the other table__________------------------------------------------- right_arm.set_named_target('r_travel') right_arm.go() self.move_to(self.person) #_------------------------now we move to the other table__________------------------------------------------- # Generate valid place poses places = self.make_places(place_pose) # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) for place in places: result = right_arm.place(target_id, place) if result == MoveItErrorCodes.SUCCESS: break rospy.sleep(0.2) if result != MoveItErrorCodes.SUCCESS: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") else: rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") # Return the arm to the "resting" pose stored in the SRDF file right_arm.set_named_target('right_start') right_arm.go() # Open the gripper to the neutral position right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(1) #move to station self.move_to(self.station) # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
def placeSrvCallback(self, req): rospy.loginfo("Received the service call!") rospy.loginfo(req) temp_dbdata = Tmsdb() target = Tmsdb() temp_dbdata.id = req.object_id rospy.wait_for_service('tms_db_reader') try: tms_db_reader = rospy.ServiceProxy('tms_db_reader', TmsdbGetData) res = tms_db_reader(temp_dbdata) target = res.tmsdb[0] except rospy.ServiceException as e: print "Service call failed: %s" % e self.shutdown() print(target.name) scene = PlanningSceneInterface() # Create a publisher for displaying gripper poses self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped) # Create a dictionary to hold object colors self.colors = dict() # Initialize the move group for the right arm arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the right gripper gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Get the name of the end-effector link end_effector_link = arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) arm.set_goal_position_tolerance(0.1) arm.set_goal_orientation_tolerance(0.3) # Allow replanning to increase the odds of a solution arm.allow_replanning(True) # Set the right arm reference frame arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow 5 seconds per planning attempt arm.set_planning_time(5) # Set a limit on the number of place attempts max_place_attempts = 5 # Give the scene a chance to catch up rospy.sleep(0.05) target_id = str(req.object_id) target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = req.x target_pose.pose.position.y = req.y target_pose.pose.position.z = req.z # q = quaternion_from_euler(target.rr, target.rp, target.ry) q = quaternion_from_euler(req.roll, req.pitch, req.yaw) target_pose.pose.orientation.x = q[0] target_pose.pose.orientation.y = q[1] target_pose.pose.orientation.z = q[2] target_pose.pose.orientation.w = q[3] print(target_pose.pose.position.x) print(target_pose.pose.position.y) print(target_pose.pose.position.z) print(target_pose.pose.orientation.x) print(target_pose.pose.orientation.y) print(target_pose.pose.orientation.z) print(target_pose.pose.orientation.w) # Initialize the grasp pose to the target pose place_pose = target_pose # Generate a list of grasps places = self.make_places(place_pose) result = None n_attempts = 0 # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) for place in places: result = arm.place(target_id, place) print(result) if result == MoveItErrorCodes.SUCCESS: break # rospy.sleep(0.2) scene.remove_world_object(str(req.object_id)) ret = rp_placeResponse() # If the pick was successful, attempt the place operation if result == MoveItErrorCodes.SUCCESS: rospy.loginfo("Success the place operation") ret.result = True else: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") ret.result = False return ret
class MoveItDemo: def __init__(self): global obj_att # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') #Initialize robot robot = moveit_commander.RobotCommander() # Use the planning scene object to add or remove objects self.scene = PlanningSceneInterface() # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene, queue_size=10) # Create a publisher for displaying gripper poses self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped, queue_size=10) # Create a publisher for displaying object frames self.object_frames_pub = rospy.Publisher('object_frames', PoseStamped, queue_size=10) ### Create a publisher for visualizing direction ### self.p_pub = rospy.Publisher('target', PoseStamped, latch=True, queue_size = 10) # Create a dictionary to hold object colors self.colors = dict() # Initialize the MoveIt! commander for the arm self.right_arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the MoveIt! commander for the gripper self.right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Allow 5 seconds per planning attempt self.right_arm.set_planning_time(5) # Prepare Action Controller for gripper self.ac = actionlib.SimpleActionClient('r_gripper_controller/gripper_action',pr2c.Pr2GripperCommandAction) self.ac.wait_for_server() # Give the scene a chance to catch up rospy.sleep(2) # Prepare Gazebo Subscriber self.pwh = None self.pwh_copy = None self.idx_targ = None self.gazebo_subscriber = rospy.Subscriber("/gazebo/model_states", ModelStates, self.model_state_callback) ### OPEN THE GRIPPER ### self.open_gripper() # PREPARE THE SCENE while self.pwh is None: rospy.sleep(0.05) ############## CLEAR THE SCENE ################ # planning_scene.world.collision_objects.remove('target') # Remove leftover objects from a previous run self.scene.remove_world_object('target') self.scene.remove_world_object('table') # self.scene.remove_world_object(obstacle1_id) # Remove any attached objects from a previous session self.scene.remove_attached_object(GRIPPER_FRAME, 'target') # Run and keep in the BG the scene generator also add the ability to kill the code with ctrl^c timerThread = threading.Thread(target=self.scene_generator) timerThread.daemon = True timerThread.start() initial_pose = PoseStamped() initial_pose.header.frame_id = 'gazebo_world' initial_pose.pose = target_pose.pose print "==================== Generating Transformations ===========================" #################### PRE GRASPING POSE ######################### M1 = transformations.quaternion_matrix([target_pose.pose.orientation.x, target_pose.pose.orientation.y, target_pose.pose.orientation.z, target_pose.pose.orientation.w]) M1[0,3] = target_pose.pose.position.x M1[1,3] = target_pose.pose.position.y M1[2,3] = target_pose.pose.position.z M2 = transformations.euler_matrix(0, 1.57, 0) M2[0,3] = 0.0 # offset about x M2[1,3] = 0.0 # about y M2[2,3] = 0.25 # about z T = np.dot(M1, M2) pre_grasping = deepcopy(target_pose) pre_grasping.pose.position.x = T[0,3] pre_grasping.pose.position.y = T[1,3] pre_grasping.pose.position.z = T[2,3] quat = transformations.quaternion_from_matrix(T) pre_grasping.pose.orientation.x = quat[0] pre_grasping.pose.orientation.y = quat[1] pre_grasping.pose.orientation.z = quat[2] pre_grasping.pose.orientation.w = quat[3] pre_grasping.header.frame_id = 'gazebo_world' self.plan_exec(pre_grasping) #################### GRASPING POSE ######################### M3 = transformations.quaternion_matrix([target_pose.pose.orientation.x, target_pose.pose.orientation.y, target_pose.pose.orientation.z, target_pose.pose.orientation.w]) M3[0,3] = target_pose.pose.position.x M3[1,3] = target_pose.pose.position.y M3[2,3] = target_pose.pose.position.z M4 = transformations.euler_matrix(0, 1.57, 0) M4[0,3] = 0.0 # offset about x M4[1,3] = 0.0 # about y M4[2,3] = 0.18 # about z T2 = np.dot(M3, M4) grasping = deepcopy(target_pose) grasping.pose.position.x = T2[0,3] grasping.pose.position.y = T2[1,3] grasping.pose.position.z = T2[2,3] quat2 = transformations.quaternion_from_matrix(T2) grasping.pose.orientation.x = quat2[0] grasping.pose.orientation.y = quat2[1] grasping.pose.orientation.z = quat2[2] grasping.pose.orientation.w = quat2[3] grasping.header.frame_id = 'gazebo_world' self.plan_exec(grasping) #Close the gripper print "========== Waiting for gazebo to catch up ==========" self.close_gripper() #################### ATTACH OBJECT ###################### touch_links = [GRIPPER_FRAME, 'r_gripper_l_finger_tip_link','r_gripper_r_finger_tip_link', 'r_gripper_r_finger_link', 'r_gripper_l_finger_link'] #print touch_links self.scene.attach_box(GRIPPER_FRAME, target_id, target_pose, target_size, touch_links) # counter to let the planning scene know when to remove the object obj_att = 1 #self.scene.remove_world_object(target_id) #################### POST-GRASP RETREAT ######################### M5 = transformations.quaternion_matrix([initial_pose.pose.orientation.x, initial_pose.pose.orientation.y, initial_pose.pose.orientation.z, initial_pose.pose.orientation.w]) M5[0,3] = initial_pose.pose.position.x M5[1,3] = initial_pose.pose.position.y M5[2,3] = initial_pose.pose.position.z M6 = transformations.euler_matrix(0, 1.57, 0) M6[0,3] = 0.0 # offset about x M6[1,3] = 0.0 # about y M6[2,3] = 0.3 # about z T3 = np.dot(M5, M6) post_grasping = deepcopy(initial_pose) post_grasping.pose.position.x = T3[0,3] post_grasping.pose.position.y = T3[1,3] post_grasping.pose.position.z = T3[2,3] quat3 = transformations.quaternion_from_matrix(T3) post_grasping.pose.orientation.x = quat3[0] post_grasping.pose.orientation.y = quat3[1] post_grasping.pose.orientation.z = quat3[2] post_grasping.pose.orientation.w = quat3[3] post_grasping.header.frame_id = 'gazebo_world' self.plan_exec(post_grasping) # Specify a pose to place the target after being picked up place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = 0.52 place_pose.pose.position.y = -0.48 place_pose.pose.position.z = 0.48 place_pose.pose.orientation.w = 1.0 n_attempts = 0 max_place_attempts = 2 # Generate valid place poses places = self.make_places(place_pose) success = False # Repeat until we succeed or run out of attempts while success == False and n_attempts < max_place_attempts: for place in places: success = self.right_arm.place(target_id, place) if success: break n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) rospy.sleep(0.2) self.open_gripper() obj_att = None rospy.sleep(3) ## # Initialize the grasp object ## g = Grasp() ## grasps = [] ## # Set the first grasp pose to the input pose ## g.grasp_pose = pre_grasping ## g.allowed_touch_objects = [target_id] ## grasps.append(deepcopy(g)) ## right_arm.pick(target_id, grasps) # #Change the frame_id for the planning to take place! # #target_pose.header.frame_id = 'gazebo_world' # # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # # Exit the script moveit_commander.os._exit(0) ################################################################################################################## #Get pose from Gazebo def model_state_callback(self,msg): self.pwh = ModelStates() self.pwh = msg # Generate a list of possible place poses def make_places(self, init_pose): # Initialize the place location as a PoseStamped message place = PoseStamped() # Start with the input place pose place = init_pose # A list of x shifts (meters) to try x_vals = [0, 0.005, 0.01, 0.015, -0.005, -0.01, -0.015] # A list of y shifts (meters) to try y_vals = [0, 0.005, 0.01, 0.015, -0.005, -0.01, -0.015] # A list of pitch angles to try #pitch_vals = [0, 0.005, -0.005, 0.01, -0.01, 0.02, -0.02] pitch_vals = [0] # A list of yaw angles to try yaw_vals = [0] # A list to hold the places places = [] # Generate a place pose for each angle and translation for y in yaw_vals: for p in pitch_vals: for y in y_vals: for x in x_vals: place.pose.position.x = init_pose.pose.position.x + x place.pose.position.y = init_pose.pose.position.y + y # Create a quaternion from the Euler angles q = quaternion_from_euler(0, p, y) # Set the place pose orientation accordingly place.pose.orientation.x = q[0] place.pose.orientation.y = q[1] place.pose.orientation.z = q[2] place.pose.orientation.w = q[3] # Append this place pose to the list places.append(deepcopy(place)) # Return the list return places def plan_exec(self, pose): self.right_arm.clear_pose_targets() self.right_arm.set_pose_target(pose, GRIPPER_FRAME) self.right_arm.plan() rospy.sleep(5) self.right_arm.go(wait=True) def close_gripper(self): g_close = pr2c.Pr2GripperCommandGoal(pr2c.Pr2GripperCommand(0.035, 100)) self.ac.send_goal(g_close) self.ac.wait_for_result() rospy.sleep(15) # Gazebo requires up to 15 seconds to attach object def open_gripper(self): g_open = pr2c.Pr2GripperCommandGoal(pr2c.Pr2GripperCommand(0.088, 100)) self.ac.send_goal(g_open) self.ac.wait_for_result() rospy.sleep(5) # And up to 20 to detach it def scene_generator(self): # print obj_att global target_pose global target_id global target_size target_id = 'target' self.taid = self.pwh.name.index('wood_cube_5cm') table_id = 'table' self.tid = self.pwh.name.index('table') #obstacle1_id = 'obstacle1' #self.o1id = self.pwh.name.index('wood_block_10_2_1cm') # Set the target size [l, w, h] target_size = [0.05, 0.05, 0.05] table_size = [1.5, 0.8, 0.03] #obstacle1_size = [0.1, 0.025, 0.01] ## Set the target pose on the table target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose = self.pwh.pose[self.taid] target_pose.pose.position.z += 0.025 # Add the target object to the scene if obj_att is None: self.scene.add_box(target_id, target_pose, target_size) table_pose = PoseStamped() table_pose.header.frame_id = REFERENCE_FRAME table_pose.pose = self.pwh.pose[self.tid] table_pose.pose.position.z += 1 self.scene.add_box(table_id, table_pose, table_size) #obstacle1_pose = PoseStamped() #obstacle1_pose.header.frame_id = REFERENCE_FRAME #obstacle1_pose.pose = self.pwh.pose[self.o1id] ## Add the target object to the scene #scene.add_box(obstacle1_id, obstacle1_pose, obstacle1_size) # Specify a pose to place the target after being picked up place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = 0.50 place_pose.pose.position.y = -0.30 place_pose.pose.orientation.w = 1.0 # Add the target object to the scene self.scene.add_box(target_id, target_pose, target_size) ### Make the target purple ### self.setColor(target_id, 0.6, 0, 1, 1.0) # Send the colors to the planning scene self.sendColors() else: self.scene.remove_world_object('target') # Publish targe's frame #self.object_frames_pub.publish(target_pose) threading.Timer(0.5, self.scene_generator).start() # Set the color of an object def setColor(self, name, r, g, b, a = 0.9): # Initialize a MoveIt color object color = ObjectColor() # Set the id to the name given as an argument color.id = name # Set the rgb and alpha values given as input color.color.r = r color.color.g = g color.color.b = b color.color.a = a # Update the global color dictionary self.colors[name] = color # Actually send the colors to MoveIt! def sendColors(self): # Initialize a planning scene object p = PlanningScene() # Need to publish a planning scene diff p.is_diff = True # Append the colors from the global color dictionary for color in self.colors.values(): p.object_colors.append(color) # Publish the scene diff self.scene_pub.publish(p)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') # Use the planning scene object to add or remove objects scene = PlanningSceneInterface() # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene, queue_size=5) # Create a publisher for displaying gripper poses self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped, queue_size=5) # Create a dictionary to hold object colors self.colors = dict() # Initialize the move group for the arm arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the gripper gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Get the name of the end-effector link end_effector_link = arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) arm.set_goal_position_tolerance(0.05) arm.set_goal_orientation_tolerance(0.1) # Allow replanning to increase the odds of a solution arm.allow_replanning(True) # Set the right arm reference frame arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow 5 seconds per planning attempt arm.set_planning_time(5) # Set a limit on the number of pick attempts before bailing max_pick_attempts = 5 # Set a limit on the number of place attempts max_place_attempts = 5 # Give the scene a chance to catch up rospy.sleep(2) # Give each of the scene objects a unique name table_id = 'table' box1_id = 'box1' box2_id = 'box2' target_id = 'target' tool_id = 'tool' # Remove leftover objects from a previous run scene.remove_world_object(table_id) scene.remove_world_object(box1_id) scene.remove_world_object(box2_id) scene.remove_world_object(target_id) scene.remove_world_object(tool_id) # Remove any attached objects from a previous session scene.remove_attached_object(GRIPPER_FRAME, target_id) # Give the scene a chance to catch up rospy.sleep(1) # Start the arm in the "grasp" pose stored in the SRDF file arm.set_named_target('left_arm_up') arm.go() # Open the gripper to the neutral position gripper.set_joint_value_target(GRIPPER_OPEN) gripper.go() rospy.sleep(1) # Set the height of the table off the ground table_ground = 0.04 # Set the dimensions of the scene objects [l, w, h] table_size = [0.2, 0.7, 0.01] box1_size = [0.1, 0.05, 0.05] box2_size = [0.05, 0.05, 0.15] # Set the target size [l, w, h] target_size = [0.02, 0.01, 0.12] # Add a table top and two boxes to the scene table_pose = PoseStamped() table_pose.header.frame_id = REFERENCE_FRAME table_pose.pose.position.x = 0.25 table_pose.pose.position.y = 0.0 table_pose.pose.position.z = table_ground + table_size[2] / 2.0 table_pose.pose.orientation.w = 1.0 scene.add_box(table_id, table_pose, table_size) box1_pose = PoseStamped() box1_pose.header.frame_id = REFERENCE_FRAME box1_pose.pose.position.x = 0.21 box1_pose.pose.position.y = -0.1 box1_pose.pose.position.z = table_ground + table_size[ 2] + box1_size[2] / 2.0 box1_pose.pose.orientation.w = 1.0 #scene.add_box(box1_id, box1_pose, box1_size) box2_pose = PoseStamped() box2_pose.header.frame_id = REFERENCE_FRAME box2_pose.pose.position.x = 0.19 box2_pose.pose.position.y = 0.13 box2_pose.pose.position.z = table_ground + table_size[ 2] + box2_size[2] / 2.0 box2_pose.pose.orientation.w = 1.0 #scene.add_box(box2_id, box2_pose, box2_size) # Set the target pose in between the boxes and on the table target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = 0.24 target_pose.pose.position.y = 0.275 target_pose.pose.position.z = table_ground + table_size[ 2] + target_size[2] / 2.0 target_pose.pose.orientation.w = 1.0 # Add the target object to the scene scene.add_box(target_id, target_pose, target_size) # Make the table blue and the boxes orange self.setColor(table_id, 0, 0, 0.8, 1.0) self.setColor(box1_id, 0.8, 0.4, 0, 1.0) self.setColor(box2_id, 0.8, 0.4, 0, 1.0) # Make the target yellow self.setColor(target_id, 0.9, 0.9, 0, 1.0) # Send the colors to the planning scene self.sendColors() # Set the support surface name to the table object arm.set_support_surface_name(table_id) # Specify a pose to place the target after being picked up place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = 0.18 place_pose.pose.position.y = 0 place_pose.pose.position.z = table_ground + table_size[ 2] + target_size[2] / 2.0 place_pose.pose.orientation.w = 1.0 # Initialize the grasp pose to the target pose grasp_pose = target_pose # Shift the grasp pose by half the width of the target to center it #grasp_pose.pose.position.y -= target_size[1] / 2.0 grasp_pose.pose.position.x = 0.12792118579 + .1 grasp_pose.pose.position.y = 0.285290879999 + 0.05 grasp_pose.pose.position.z = 0.120301181892 #grasp_pose.pose.orientation = # Generate a list of grasps grasps = self.make_grasps(grasp_pose, [target_id, table_id]) # Publish the grasp poses so they can be viewed in RViz for grasp in grasps: self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) break # Track success/failure and number of attempts for pick operation result = None n_attempts = 0 # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) result = arm.pick(target_id, grasps) rospy.sleep(0.2) # If the pick was successful, attempt the place operation if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 # Generate valid place poses places = self.make_places(place_pose) # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) for place in places: result = arm.place(target_id, place) if result == MoveItErrorCodes.SUCCESS: break rospy.sleep(0.2) if result != MoveItErrorCodes.SUCCESS: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") else: # Return the arm to the "resting" pose stored in the SRDF file arm.set_named_target('left_arm_rest') arm.go() # Open the gripper to the open position gripper.set_joint_value_target(GRIPPER_OPEN) gripper.go() else: rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") rospy.sleep(1) # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') # Use the planning scene object to add or remove objects scene = PlanningSceneInterface() # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene) # Create a publisher for displaying gripper poses self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped) # Create a dictionary to hold object colors self.colors = dict() # Initialize the move group for the right arm right_arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the right gripper right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.05) right_arm.set_goal_orientation_tolerance(0.1) # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Set the right arm reference frame right_arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow 10 seconds per planning attempt right_arm.set_planning_time(20) # Set a limit on the number of pick attempts before bailing max_pick_attempts = 2 # Set a limit on the number of place attempts max_place_attempts = 5 # Give the scene a chance to catch up rospy.sleep(2) # Give each of the scene objects a unique name table_id = 'table' box1_id = 'box1' box2_id = 'box2' target_id = 'target' tool_id = 'tool' # Remove leftover objects from a previous run scene.remove_world_object(table_id) scene.remove_world_object(box1_id) scene.remove_world_object(box2_id) scene.remove_world_object(target_id) scene.remove_world_object(tool_id) # Remove any attached objects from a previous session scene.remove_attached_object(GRIPPER_FRAME, target_id) # Give the scene a chance to catch up rospy.sleep(1) # Start the arm in the "resting" pose stored in the SRDF file right_arm.set_named_target('right_home') right_arm.go() # Open the gripper to the neutral position right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(1) # Set the height of the table off the ground table_ground = 0.65 # Set the dimensions of the scene objects [l, w, h] table_size = [0.2, 0.7, 0.01] box1_size = [0.1, 0.05, 0.05] box2_size = [0.05, 0.05, 0.15] # Set the target size [l, w, h] target_size = [0.02, 0.01, 0.12] # Add a table top and two boxes to the scene table_pose = PoseStamped() table_pose.header.frame_id = REFERENCE_FRAME table_pose.pose.position.x = 0.55 table_pose.pose.position.y = 0.0 table_pose.pose.position.z = table_ground + table_size[2] / 2.0 table_pose.pose.orientation.w = 1.0 scene.add_box(table_id, table_pose, table_size) box1_pose = PoseStamped() box1_pose.header.frame_id = REFERENCE_FRAME box1_pose.pose.position.x = 0.55 box1_pose.pose.position.y = -0.1 box1_pose.pose.position.z = table_ground + table_size[2] + box1_size[2] / 2.0 box1_pose.pose.orientation.w = 1.0 scene.add_box(box1_id, box1_pose, box1_size) box2_pose = PoseStamped() box2_pose.header.frame_id = REFERENCE_FRAME box2_pose.pose.position.x = 0.54 box2_pose.pose.position.y = 0.13 box2_pose.pose.position.z = table_ground + table_size[2] + box2_size[2] / 2.0 box2_pose.pose.orientation.w = 1.0 scene.add_box(box2_id, box2_pose, box2_size) # Set the target pose in between the boxes and on the table target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = 0.575868 target_pose.pose.position.y = -0.25149 # target_pose.pose.position.z = table_ground + table_size[2] + target_size[2] / 2.0 target_pose.pose.position.z = 0.735643773079 target_pose.pose.orientation.w = 1.0 print("Initial target_pose", target_pose) # Add the target object to the scene scene.add_box(target_id, target_pose, target_size) # Make the table red and the boxes orange self.setColor(table_id, 0.8, 0, 0, 1.0) self.setColor(box1_id, 0.8, 0.4, 0, 1.0) self.setColor(box2_id, 0.8, 0.4, 0, 1.0) # Make the target yellow self.setColor(target_id, 0.9, 0.9, 0, 1.0) # Send the colors to the planning scene self.sendColors() # Set the support surface name to the table object right_arm.set_support_surface_name(table_id) # Specify a pose to place the target after being picked up place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = 0.58 place_pose.pose.position.y = -0.35 place_pose.pose.position.z = table_ground + table_size[2] + target_size[2] / 2.0 place_pose.pose.orientation.w = 1.0 #================For testing orientation constraint====================================== # pose_target_r = geometry_msgs.msg.Pose() # pose_target_r.position.x = 0.50 # pose_target_r.position.y = -0.160 # pose_target_r.position.z = 0.72 # pose_target_r.position.x = 0.5232 # pose_target_r.position.y = -0.2743 # pose_target_r.position.z = 0.6846 # q = quaternion_from_euler(-1.57, 0, -1.57) # pose_target_r.orientation.x = q[0] # pose_target_r.orientation.y = q[1] # pose_target_r.orientation.z = q[2] # pose_target_r.orientation.w = q[3] # print ("pose_target_r",pose_target_r ) # right_arm.set_pose_target(pose_target_r) # right_arm.go() # rospy.sleep(5) # Open the gripper to the full position # right_gripper.set_named_target("right_open") # right_gripper.plan() # right_gripper.go() # rospy.sleep(5) # # Create Cartesian Path to move forward mainting the end-effector pose # waypoints = [] # wpose = right_arm.get_current_pose().pose # wpose.position.x += 0.05 # move forward in (x) # waypoints.append(copy.deepcopy(wpose)) # (plan, fraction) = right_arm.compute_cartesian_path( # waypoints, # waypoints to follow # 0.01, # eef_step # 0.0) # jump_threshold # if (plan.joint_trajectory.points) : # True if trajectory contains points # move_success = right_arm.execute(plan, wait=True) # if(move_success == True): # rospy.loginfo("Move forward Successful") # rospy.sleep(2) # # right_gripper.set_joint_value_target(GRIPPER_CLOSED) # right_gripper.set_named_target("right_close") # right_gripper.plan() # right_gripper.go() # rospy.sleep(2) # waypoints = [] # wpose = right_arm.get_current_pose().pose # wpose.position.z += 0.1 # move up in (z) # waypoints.append(copy.deepcopy(wpose)) # (plan, fraction) = right_arm.compute_cartesian_path( # waypoints, # waypoints to follow # 0.01, # eef_step # 0.0) # jump_threshold # if (plan.joint_trajectory.points) : # True if trajectory contains points # move_success = right_arm.execute(plan, wait=True) # if(move_success == True): # rospy.loginfo("Lift Successful") # else: # rospy.logwarn("Cartesian Paht Planning Failed for forward movement") # # Give the scene a chance to catch up # rospy.sleep(1) # # Start the arm in the "resting" pose stored in the SRDF file # right_arm.set_named_target('right_home') # right_arm.go() #======================================= # Initialize the grasp pose to the target pose grasp_pose = target_pose # grasp_pose.pose.position.x = 0.55 # grasp_pose.pose.position.y = -0.165 # grasp_pose.pose.position.z = 0.72 # Shift the grasp pose by half the width of the target to center it # grasp_pose.pose.position.y += 0.020 # bring the target in between gripper # grasp_pose.pose.position.x = -0.05 # Generate a list of grasps grasps = self.make_grasps(grasp_pose, [target_id]) # Publish the grasp poses so they can be viewed in RViz for grasp in grasps: self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) # Track success/failure and number of attempts for pick operation result = None n_attempts = 0 # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) print("current grasp pose", grasps[n_attempts].grasp_pose.pose ) result = right_arm.pick(target_id, grasps) rospy.sleep(0.2) # If the pick was successful, attempt the place operation if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 #_------------------------now we move to the other table__________------------------------------------------- #_------------------------now we move to the other table__________------------------------------------------- # Generate valid place poses places = self.make_places(place_pose) # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) for place in places: result = right_arm.place(target_id, place) if result == MoveItErrorCodes.SUCCESS: break rospy.sleep(0.2) if result != MoveItErrorCodes.SUCCESS: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") else: rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") # Return the arm to the "resting" pose stored in the SRDF file right_arm.set_named_target('right_home') right_arm.go() # Open the gripper to the neutral position right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(1) # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
def __init__(self): # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('moveit_pick_and_place_demo') # 初始化场景对象 scene = PlanningSceneInterface() # 创建一个发布场景变化信息的发布者 self.scene_pub = rospy.Publisher('planning_scene', PlanningScene, queue_size=10) # 创建一个发布抓取姿态的发布者 self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped, queue_size=10) # 创建一个存储物体颜色的字典对象 self.colors = dict() # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander(GROUP_NAME_ARM) # 初始化需要使用move group控制的机械臂中的gripper group gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # 获取终端link的名称 end_effector_link = arm.get_end_effector_link() # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 arm.set_goal_position_tolerance(0.05) arm.set_goal_orientation_tolerance(0.1) # 当运动规划失败后,允许重新规划 arm.allow_replanning(True) # 设置目标位置所使用的参考坐标系 arm.set_pose_reference_frame(REFERENCE_FRAME) # 设置每次运动规划的时间限制:5s arm.set_planning_time(5) # 设置pick和place阶段的最大尝试次数 max_pick_attempts = 5 max_place_attempts = 5 rospy.sleep(2) # 设置场景物体的名称 table_id = 'table' box1_id = 'box1' box2_id = 'box2' target_id = 'target' # 移除场景中之前运行残留的物体 scene.remove_world_object(table_id) scene.remove_world_object(box1_id) scene.remove_world_object(box2_id) scene.remove_world_object(target_id) # 移除场景中之前与机器臂绑定的物体 scene.remove_attached_object(GRIPPER_FRAME, target_id) rospy.sleep(1) # 控制机械臂先回到初始化位置 arm.set_named_target('home') arm.go() # 控制夹爪张开 gripper.set_joint_value_target(GRIPPER_OPEN) gripper.go() rospy.sleep(1) # 设置桌面的高度 table_ground = 0.2 # 设置table、box1和box2的三维尺寸[长, 宽, 高] table_size = [0.2, 0.7, 0.01] box1_size = [0.1, 0.05, 0.05] box2_size = [0.05, 0.05, 0.15] # 将三个物体加入场景当中 table_pose = PoseStamped() table_pose.header.frame_id = REFERENCE_FRAME table_pose.pose.position.x = 0.35 table_pose.pose.position.y = 0.0 table_pose.pose.position.z = table_ground + table_size[2] / 2.0 table_pose.pose.orientation.w = 1.0 scene.add_box(table_id, table_pose, table_size) box1_pose = PoseStamped() box1_pose.header.frame_id = REFERENCE_FRAME box1_pose.pose.position.x = 0.31 box1_pose.pose.position.y = -0.1 box1_pose.pose.position.z = table_ground + table_size[ 2] + box1_size[2] / 2.0 box1_pose.pose.orientation.w = 1.0 scene.add_box(box1_id, box1_pose, box1_size) box2_pose = PoseStamped() box2_pose.header.frame_id = REFERENCE_FRAME box2_pose.pose.position.x = 0.29 box2_pose.pose.position.y = -0.4 box2_pose.pose.position.z = table_ground + table_size[ 2] + box2_size[2] / 2.0 box2_pose.pose.orientation.w = 1.0 scene.add_box(box2_id, box2_pose, box2_size) # 将桌子设置成红色,两个box设置成橙色 self.setColor(table_id, 0.8, 0, 0, 1.0) self.setColor(box1_id, 0.8, 0.4, 0, 1.0) self.setColor(box2_id, 0.8, 0.4, 0, 1.0) # 设置目标物体的尺寸 target_size = [0.04, 0.04, 0.05] # 设置目标物体的位置,位于桌面之上两个盒子之间 target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = 0.32 target_pose.pose.position.y = 0.0 target_pose.pose.position.z = table_ground + table_size[ 2] + target_size[2] / 2.0 target_pose.pose.orientation.w = 1.0 # 将抓取的目标物体加入场景中 scene.add_box(target_id, target_pose, target_size) # 将目标物体设置为黄色 self.setColor(target_id, 0.9, 0.9, 0, 1.0) # 将场景中的颜色设置发布 self.sendColors() # 设置支持的外观 arm.set_support_surface_name(table_id) # 设置一个place阶段需要放置物体的目标位置 place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = 0.32 place_pose.pose.position.y = -0.2 place_pose.pose.position.z = table_ground + table_size[ 2] + target_size[2] / 2.0 place_pose.pose.orientation.w = 1.0 # 将目标位置设置为机器人的抓取目标位置 grasp_pose = target_pose # 生成抓取姿态 grasps = self.make_grasps(grasp_pose, [target_id]) # 将抓取姿态发布,可以在rviz中显示 for grasp in grasps: self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) # 追踪抓取成功与否,以及抓取的尝试次数 result = None n_attempts = 0 # 重复尝试抓取,直道成功或者超多最大尝试次数 while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) result = arm.pick(target_id, grasps) rospy.sleep(0.2) # 如果pick成功,则进入place阶段 if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 # 生成放置姿态 places = self.make_places(place_pose) # 重复尝试放置,直道成功或者超多最大尝试次数 while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) for place in places: result = arm.place(target_id, place) if result == MoveItErrorCodes.SUCCESS: break rospy.sleep(0.2) if result != MoveItErrorCodes.SUCCESS: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") else: rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") # 控制机械臂回到初始化位置 arm.set_named_target('home') arm.go() # 控制夹爪回到张开的状态 gripper.set_joint_value_target(GRIPPER_OPEN) gripper.go() rospy.sleep(1) # 关闭并退出moveit moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
rospy.sleep(2) scene.add_box("part", pos, (0.02, 0.04, 0.02)) rospy.sleep(2) result = -1 attempt = 0 while result < 0: result = arm.pick("part", grasps) print "Attempt:", attempt print "Final Result: ", result attempt += 1 print "pick completed" result = False attempt = 0 while result == False or result < 0: result = arm.place("part", p) print "Attempt:", attempt print "Final Result: ", result attempt += 1 print "Place Completed" arm.set_named_target("Home") arm.go() rospy.sleep(2) rospy.spin() roscpp_shutdown()